public void TestRaycasts()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 1;
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List <string>();
perception.DetectableTags.Add(k_CubeTag);
perception.DetectableTags.Add(k_SphereTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var sensor = perception.CreateSensor();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationShape()[0], expectedObs);
var outputBuffer = new float[expectedObs];
WriteAdapter writer = new WriteAdapter();
writer.SetTarget(outputBuffer, sensor.GetObservationShape(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// Expected hits:
// ray 0 should hit the cube at roughly halfway
// ray 1 should hit a sphere but no tag
// ray 2 should hit a sphere with the k_SphereTag tag
// The hit fraction should be the same for rays 1 and
//
Assert.AreEqual(1.0f, outputBuffer[0]); // hit cube
Assert.AreEqual(0.0f, outputBuffer[1]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[2]); // missed unknown tag
// Hit is at z=9.0 in world space, ray length is 20
Assert.That(
outputBuffer[3], Is.EqualTo((9.5f - castRadius) / perception.RayLength).Within(.0005f)
);
// Spheres are at 5,0,5 and 5,0,-5, so 5*sqrt(2) units from origin
// Minus 1.0 for the sphere radius to get the length of the hit.
var expectedHitLengthWorldSpace = 5.0f * Mathf.Sqrt(2.0f) - 0.5f - castRadius;
Assert.AreEqual(0.0f, outputBuffer[4]); // missed cube
Assert.AreEqual(0.0f, outputBuffer[5]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[6]); // hit unknown tag -> all 0
Assert.That(
outputBuffer[7], Is.EqualTo(expectedHitLengthWorldSpace / perception.RayLength).Within(.0005f)
);
Assert.AreEqual(0.0f, outputBuffer[8]); // missed cube
Assert.AreEqual(1.0f, outputBuffer[9]); // hit sphere
Assert.AreEqual(0.0f, outputBuffer[10]); // missed unknown tag
Assert.That(
outputBuffer[11], Is.EqualTo(expectedHitLengthWorldSpace / perception.RayLength).Within(.0005f)
);
}
}
public void TestRayFilter()
{
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, 10);
cube.tag = k_CubeTag;
cube.name = "cubeFar";
var cubeFiltered = GameObject.CreatePrimitive(PrimitiveType.Cube);
cubeFiltered.transform.position = new Vector3(0, 0, 5);
cubeFiltered.tag = k_CubeTag;
cubeFiltered.name = "cubeNear";
cubeFiltered.layer = 7;
Physics.SyncTransforms();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0;
perception.RayLength = 20;
perception.DetectableTags = new List <string>();
var filterCubeLayers = new[] { false, true };
foreach (var filterCubeLayer in filterCubeLayers)
{
// Set the layer mask to either the default, or one that ignores the close cube's layer
var layerMask = Physics.DefaultRaycastLayers;
if (filterCubeLayer)
{
layerMask &= ~(1 << cubeFiltered.layer);
}
perception.RayLayerMask = layerMask;
var sensor = perception.CreateSensor();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationShape()[0], expectedObs);
var outputBuffer = new float[expectedObs];
WriteAdapter writer = new WriteAdapter();
writer.SetTarget(outputBuffer, sensor.GetObservationShape(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
if (filterCubeLayer)
{
// Hit the far cube because close was filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((9.5f - perception.SphereCastRadius) / perception.RayLength).Within(.0005f)
);
}
else
{
// Hit the close cube because not filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((4.5f - perception.SphereCastRadius) / perception.RayLength).Within(.0005f)
);
}
}
}
public int Write(WriteAdapter adapter)
{
numWriteCalls++;
// No-op
return(0);
}
public int Write(WriteAdapter adapter)
{
// No-op
return(0);
}
public int Write(WriteAdapter adapter)
{
return(this.ObservationSize());
}